CN114312846A - Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle - Google Patents
Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle Download PDFInfo
- Publication number
- CN114312846A CN114312846A CN202210028503.4A CN202210028503A CN114312846A CN 114312846 A CN114312846 A CN 114312846A CN 202210028503 A CN202210028503 A CN 202210028503A CN 114312846 A CN114312846 A CN 114312846A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic sensor
- obstacle
- sensor
- image
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000002604 ultrasonography Methods 0.000 claims 2
- 238000004590 computer program Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention provides an obstacle identification method based on an automatic driving vehicle and the automatic driving vehicle, wherein the method comprises the following steps: acquiring real-time image information uploaded by an image sensor and an ultrasonic sensor; and generating an obstacle recognition result according to the real-time image information. The technical problem that the cost of obstacles on the road surface is high due to the fact that existing automatic driving vehicles often recognize the obstacles in high-cost modes such as radars is solved.
Description
Technical Field
The present invention relates to the field of automated driving technologies, and in particular, to a method for identifying an obstacle based on an automated driving vehicle and an automated driving vehicle.
Background
An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. Decades of history have been in the 20 th century, and the 21 st century is showing a trend toward practical use, and the automatic driving technology has been widely applied to a plurality of scenes, such as a golf cart with an automatic driving function.
In automatic driving, in order to recognize road conditions, such as obstacles, sensors such as laser radar and stereo camera are often arranged on a vehicle to detect the obstacles, or magnetic wires are arranged on a running road to form magnetic tracks to guide the vehicle.
In some cases, it is costly to provide a radar or other expensive means to recognize an obstacle on a road surface in a conventional autonomous vehicle.
Disclosure of Invention
The invention provides an obstacle identification method based on an automatic driving vehicle and the automatic driving vehicle, which aim to solve the technical problem that the existing automatic driving vehicle is high in cost for identifying obstacles on a road surface by arranging a radar and other high-cost modes.
According to a first aspect of the present invention, there is provided a method of identifying an obstacle based on an autonomous vehicle, the autonomous vehicle comprising: image sensor and ultrasonic sensor, wherein, the method includes: acquiring real-time image information uploaded by an image sensor and an ultrasonic sensor; and generating an obstacle recognition result according to the real-time image information.
Further, the ultrasonic sensor is provided in plurality, wherein the plurality of ultrasonic sensors are provided at a head of the autonomous vehicle such that a field of view of the ultrasonic sensor is the same as a vehicle width of the autonomous vehicle.
Further, the detection angle range of the image sensor on the autonomous vehicle exceeds the ultrasonic sensor in the horizontal direction.
Further, the real-time image information includes a first image collected by the ultrasonic sensor and a second image collected by the image sensor, wherein the generating of the identification result of the obstacle according to the real-time image information includes: judging an obstacle in the field of view of the ultrasonic sensor according to the first image; and judging the obstacle in the image sensing visual field range according to the second image, wherein the visual field range of the image sensor is out of the visual field range of the ultrasonic sensor.
Further, the obstacle in the field of view of the image sensor is a laterally moving obstacle outside the field of view of the ultrasonic sensor.
Further, before acquiring real-time image information uploaded by the image sensor and the ultrasonic sensor, the method comprises the following steps: generating map data according to image data acquired by an image sensor; receiving target address information input by a user; and generating a driving path according to the target address information and the map data.
Further, after generating the identification result of the obstacle according to the real-time image information uploaded by the ultrasonic sensor and the image sensor, the method comprises the following steps: determining a distance between the obstacle and the autonomous vehicle according to the recognition result of the obstacle; and controlling the automatic driving vehicle to stop running or turn to avoid under the condition that the distance is smaller than a preset threshold value.
According to a second aspect of the present invention, there is provided an obstacle recognition apparatus based on an autonomous vehicle, the autonomous vehicle comprising: image sensor and ultrasonic sensor, wherein, the device includes: the acquisition unit is used for acquiring real-time image information uploaded by the image sensor and the ultrasonic sensor; and a generation unit which generates an obstacle recognition result based on the real-time image information.
According to a third aspect of the present invention, there is provided an autonomous vehicle comprising: the image sensor and the ultrasonic sensor are used for acquiring and uploading real-time image information; and the controller is in communication relation with the image sensor and the ultrasonic sensor, is used for determining that the obstacle exists according to the real-time image information, and generates a control command according to the distance between the automatic driving vehicle and the obstacle.
Further, the ultrasonic sensor includes at least: the ultrasonic sensor comprises a first ultrasonic sensor, a second ultrasonic sensor and a third ultrasonic sensor, wherein the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are arranged at the head of the automatic driving vehicle, so that the visual field of the ultrasonic sensor is the same as the vehicle width of the automatic driving vehicle.
Further, the image sensor is a monocular wide-angle camera.
Further, the detection angle range of the image sensor on the autonomous vehicle exceeds the ultrasonic sensor in the horizontal direction.
The invention provides an obstacle identification method based on an automatic driving vehicle and the automatic driving vehicle, wherein the method comprises the following steps: acquiring real-time image information uploaded by an image sensor and an ultrasonic sensor; and generating an obstacle recognition result according to the real-time image information. The technical problem that the cost of obstacles on the road surface is high due to the fact that existing automatic driving vehicles often recognize the obstacles in high-cost modes such as radars is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an obstacle recognition method based on an autonomous vehicle according to a first embodiment of the present invention;
FIGS. 2-5 are schematic views of a field of view of an autonomous vehicle according to a first embodiment of the invention;
fig. 6 is a schematic view of an obstacle recognition apparatus based on an autonomous vehicle according to a second embodiment of the present invention;
FIG. 7 is a schematic view of an autonomous vehicle according to a third embodiment of the invention; and
fig. 8 is a schematic view of an alternative autonomous vehicle according to a third embodiment of the invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the present invention. In other instances, well-known steps or operations are not described in detail to avoid obscuring the invention.
Example one
The application provides a method for identifying an obstacle based on an autonomous vehicle, the autonomous vehicle comprising: as shown in fig. 1, the method includes:
and step S11, acquiring real-time image information uploaded by the image sensor and the ultrasonic sensor.
Specifically, in this scheme, a main controller (which may be an automatic driving control unit) of the automatic driving vehicle may be used as an execution main body of the method in this application, and it should be noted that the automatic driving vehicle is provided with an ultrasonic sensor and an image sensor at the same time, and the image sensor may be a monocular wide-angle camera. The automatic driving vehicle can be a low-speed automatic running vehicle such as a golf vehicle, and when the automatic driving vehicle runs, the image sensor and the ultrasonic sensor can acquire real-time image information of a road where the automatic driving vehicle is located in real time and upload the real-time image information to the main controller.
Step S13 is to generate an obstacle recognition result from the real-time image information.
Specifically, in this scheme, the main controller may generate a recognition result of the obstacle according to the real-time image information, and it should be noted that the obstacle in this scheme generally refers to a person or an object forming an obstacle in the travel route, and includes both a dynamic obstacle and a static obstacle. It should be noted that the result of recognizing the obstacle includes at least the distance between the obstacle and the autonomous vehicle, and referring to fig. 2, fig. 2 is a side view of the autonomous vehicle according to the present embodiment, in which a solid line on the right side in fig. 2 is a field of view of the ultrasonic sensor, a broken line is a field of view of the image sensor, and the present embodiment can control the vehicle to stop when the obstacle is recognized within the field of view of the ultrasonic sensor, and the controller controls the vehicle to stop after the obstacle (person or object) suddenly intruding from outside the field of view of the ultrasonic sensor is recognized by the image sensor. The image sensor can easily and accurately recognize a laterally moving object such as a person or an animal suddenly intruding.
Because the scheme integrates the results of the ultrasonic sensor and the obstacles generated by the image sensor, compared with the prior art, the scheme only needs to install the ultrasonic sensor and the image sensor on the vehicle, can provide a cheap system for the low-speed running vehicle, and solves the technical problem that the existing automatic driving vehicle usually identifies the obstacles on the road surface by arranging the radar, and the cost is high.
Optionally, the number of the ultrasonic sensors is multiple, and the multiple ultrasonic sensors are disposed at a head of the autonomous vehicle, so that a field of view of the ultrasonic sensors is the same as a vehicle width of the autonomous vehicle.
Specifically, the present solution may arrange a plurality of ultrasonic sensors in front of the autonomous vehicle (at the vehicle head) such that the field of view of the ultrasonic sensors is the same as the vehicle width of the autonomous vehicle. Referring to fig. 3, fig. 3 is a top view of the autonomous vehicle according to the present invention, preferably, three ultrasonic sensors may be provided at a front of the autonomous vehicle, a solid line on a right side of fig. 3 is a field of view of the ultrasonic sensors, the field of view of the three ultrasonic sensors are staggered, where the three ultrasonic sensors are sequentially arranged at the front of the autonomous vehicle, the first ultrasonic sensor is adjacent to the second ultrasonic sensor, a distance between the first ultrasonic sensor and the second ultrasonic sensor is L1, the second ultrasonic sensor is adjacent to the third ultrasonic sensor, a distance between the second ultrasonic sensor and the third ultrasonic sensor is L2, and L1 is L2, that is, the three ultrasonic sensors are equally provided at the front of the autonomous vehicle, so that the ultrasonic sensors can acquire a maximum field of view from the front of the autonomous vehicle, in this case, the three ultrasonic sensors can be used to set the distance exceeding about 10 m of the vehicle width as the field of view.
Optionally, the detection angle range of the image sensor on the autonomous vehicle exceeds the ultrasonic sensor in the horizontal direction.
Specifically, in the present solution, with reference to fig. 2 to 3, the range of the dotted line is the field of view of the image sensor, the range of the solid line is the field of view of the ultrasonic sensor, and the detection angle range of the image sensor on the autonomous vehicle exceeds the ultrasonic sensor in the horizontal direction.
Optionally, the real-time image information includes a first image acquired by the ultrasonic sensor and a second image acquired by the image sensor, wherein the generating of the identification result of the obstacle according to the real-time image information includes: judging an obstacle in the field of view of the ultrasonic sensor according to the first image; and judging the obstacle in the image sensing visual field range according to the second image, wherein the visual field range of the image sensor is out of the visual field range of the ultrasonic sensor.
Optionally, the obstacle in the field of view of the image sensor is a laterally moving obstacle outside the field of view of the ultrasonic sensor.
Optionally, before acquiring the real-time image information uploaded by the image sensor in step S11, the method may further include:
in step S05, map data is generated from the image data acquired by the image sensor.
In step S07, destination address information input by the user is received.
In step S09, a driving route is generated from the target address information and the map data.
Specifically, in the present solution, the autonomous vehicle may be controlled to travel in a preset area in advance, an image generation technology is adopted, map data is generated according to image data acquired by an image sensor, the map data is stored in the main controller, after a map is generated, a user may input target address information through an input device such as a vehicle-mounted terminal, the target address information may be any position where the user desires to move, then the controller generates a driving path (i.e., a driving route) according to the target address information and the map data, and the autonomous vehicle travels according to the driving path to reach a target address.
Optionally, after the identification result of the obstacle is generated according to the real-time image information uploaded by the ultrasonic sensor and the image sensor, the method of the present application includes:
in step S17, the distance between the obstacle and the autonomous vehicle is determined based on the result of the obstacle recognition.
And step S19, controlling the automatic driving vehicle to stop running or turn and avoid when the distance is smaller than the preset threshold value.
Specifically, in the present solution, the main controller may determine a distance between the obstacle and the autonomous vehicle according to an obstacle result, where the obstacle recognition result may include position information (e.g., coordinates) of the obstacle, then the main controller determines position information of itself according to the vehicle-mounted GPS module, then determines a distance between the obstacle and the autonomous vehicle according to the two position information, if the distance is smaller than a preset threshold (e.g., a preset distance of 5 m), it means that a collision is imminent, and the main controller controls the autonomous vehicle to automatically stop or steer. According to the scheme, the automobile runs automatically in a set interval through the main controller and the controller, when an obstacle exists on a running road, the obstacle is identified through an image, the distance to the obstacle is measured through the ultrasonic sensor, and automatic parking or turning avoidance is carried out before collision.
Referring to fig. 4, when the main controller detects that the distance between the obstacle and the autonomous vehicle is less than the preset distance, the main controller controls the autonomous vehicle to stop traveling or turn, and preferably, when the distance between the obstacle and the autonomous vehicle is less than the preset distance, the main controller controls the vehicle to alarm.
Example two
As shown in fig. 6, the present disclosure provides an obstacle recognition device based on an autonomous vehicle, which may be disposed in a processing device of the autonomous vehicle and may be used to execute the method of the first embodiment, and the autonomous vehicle includes: image sensor and ultrasonic sensor, wherein, the device includes: an acquisition unit 60 for acquiring real-time image information uploaded by the image sensor and the ultrasonic sensor; the generation unit 62 generates an obstacle recognition result from the real-time image information.
The scheme integrates the results of the obstacles generated by the ultrasonic sensor and the image sensor, and compared with the prior art, the result of the obstacle detected by the scheme is more accurate, and the technical problem that the existing automatic driving vehicle is large in cost because the obstacle on the road surface is usually identified by setting a radar is solved.
EXAMPLE III
As shown in fig. 7, the present application provides an autonomous vehicle comprising: an image sensor 70 and an ultrasonic sensor 71 for acquiring and uploading real-time image information; and a controller 72, which is in communication relationship with the image sensor 70 and the ultrasonic sensor 71, for determining the presence of an obstacle from the real-time image information, and generating a control command according to the distance between the autonomous vehicle and the obstacle. .
Optionally, the ultrasonic sensor at least comprises: the ultrasonic sensor comprises a first ultrasonic sensor, a second ultrasonic sensor and a third ultrasonic sensor, wherein the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are arranged at the head of the automatic driving vehicle, so that the visual field of the ultrasonic sensor is the same as the vehicle width of the automatic driving vehicle.
Optionally, the image sensor is a monocular wide-angle camera.
Optionally, the detection angle range of the image sensor on the autonomous vehicle exceeds the ultrasonic sensor in the horizontal direction.
An alternative embodiment of the autonomous vehicle of the present application is described below with reference to fig. 8: an autonomous vehicle includes:
an automatic travel control unit (i.e., the above-described main controller); the autonomous vehicle further comprises three sensors, respectively: a central ultrasonic sensor (USS), a front left ultrasonic sensor, and a front right ultrasonic sensor, which are capable of setting a distance of about 10 meters beyond a vehicle width as a field of view; the monocular wide-angle camera is used for collecting image data; a steering actuator for controlling the steering of the vehicle; a Brake unit Brake for stopping the vehicle; a motor control unit for acceleration and deceleration of the vehicle; and the alarm display and the loudspeaker are used for alarming and sounding. In the automatic driving vehicle of the embodiment, the monocular wide-angle camera is used for collecting image data, the main controller judges whether an obstacle exists or not according to the image data, judges the distance of the obstacle through the three ultrasonic sensors, and controls the vehicle to turn, stop, accelerate and decelerate and give an alarm according to the distance of the obstacle.
In summary, the scheme can provide a cheap system for the low-speed running vehicle, does not need to lay special equipment on the running route, can automatically set the running route by generating a map, and can easily add or change the route.
The present application further provides a computer device comprising a memory and a processor, the memory having stored thereon computer instructions that, when executed by the processor, cause the method of embodiment one to be performed.
The present application also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the method of the first embodiment to be performed.
It will be understood that the specific features, operations and details described herein above with respect to the method of the present invention may be similarly applied to the apparatus and system of the present invention, or vice versa. In addition, each step of the method of the present invention described above may be performed by a respective component or unit of the device or system of the present invention.
It should be understood that the various modules/units of the apparatus of the present invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. Each module/unit may be embedded in a processor of the computer device in a hardware or firmware form or independent from the processor, or may be stored in a memory of the computer device in a software form to be called by the processor to perform the operation of each module/unit. Each module/unit may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
In one embodiment, a computer device is provided that includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instruct the processor to perform the steps of the method of embodiment one of the present invention. The computer device may broadly be a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, a network interface, a communication interface, etc., connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device through a network. Which when executed by a processor performs the steps of the method of the invention.
The invention may be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of a method of an embodiment one of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.
It will be appreciated by those of ordinary skill in the art that the method steps of the present invention may be directed to associated hardware, such as a computer device or processor, for performing by a computer program that may be stored in a non-transitory computer readable storage medium and that when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as there is no contradiction between such combinations.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. An obstacle recognition method based on an autonomous vehicle, characterized in that the autonomous vehicle comprises: an image sensor and an ultrasonic sensor, wherein the method comprises:
acquiring real-time image information uploaded by the image sensor and the ultrasonic sensor;
and generating an obstacle identification result according to the real-time image information.
2. The method of claim 1, wherein the plurality of ultrasonic sensors is provided on a nose of the autonomous vehicle such that a field of view of the ultrasonic sensors is the same as a vehicle width of the autonomous vehicle.
3. The method of claim 2, wherein the image sensor detects an angular range on the autonomous vehicle that exceeds the ultrasonic sensor in a horizontal direction.
4. The method of claim 1, wherein the real-time image information comprises a first image acquired by the ultrasound sensor and a second image acquired by the image sensor, and wherein generating the identification of the obstacle from the real-time image information comprises:
judging an obstacle in the field of view of the ultrasonic sensor according to the first image;
and judging an obstacle in the image sensing visual field range according to the second image, wherein the visual field range of the image sensor is out of the visual field range of the ultrasonic sensor.
5. The method of claim 4, wherein the obstacle in the field of view of the image sensor is a laterally moving obstacle outside the field of view of the ultrasonic sensor.
6. The method of claim 1, wherein prior to acquiring real-time image information uploaded by the image sensor and the ultrasound sensor, the method comprises:
generating map data according to the image data acquired by the image sensor;
receiving target address information input by a user;
and generating a driving path according to the target address information and the map data.
7. The method according to claim 1, wherein after generating the identification result of the obstacle according to the real-time image information uploaded by the ultrasonic sensor and the image sensor, the method comprises:
determining a distance between the obstacle and the autonomous vehicle according to the recognition result of the obstacle;
and controlling the automatic driving vehicle to stop running or turn to avoid under the condition that the distance is smaller than a preset threshold value.
8. An obstacle recognition apparatus for an autonomous vehicle, comprising: an image sensor and an ultrasonic sensor, wherein the apparatus comprises:
the acquisition unit is used for acquiring real-time image information uploaded by the image sensor and the ultrasonic sensor;
and a generation unit which generates an obstacle recognition result according to the real-time image information.
9. An autonomous vehicle, comprising:
the image sensor and the ultrasonic sensor are used for acquiring and uploading real-time image information;
and the controller is in communication relation with the image sensor and the ultrasonic sensor, and is used for determining that the obstacle exists according to the real-time image information and generating a control command according to the distance between the automatic driving vehicle and the obstacle.
10. The autonomous-capable vehicle of claim 9, wherein the ultrasonic sensor comprises at least: the ultrasonic sensor system comprises a first ultrasonic sensor, a second ultrasonic sensor and a third ultrasonic sensor, wherein the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are arranged at the head of the automatic driving vehicle, so that the visual field of the ultrasonic sensors is the same as the vehicle width of the automatic driving vehicle.
11. The autonomous-capable vehicle of claim 9, wherein the image sensor is a monocular wide-angle camera.
12. The autonomous-capable vehicle of claim 9, wherein a detection angle range of the image sensor on the autonomous-capable vehicle exceeds the ultrasonic sensor in a horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210028503.4A CN114312846A (en) | 2022-01-11 | 2022-01-11 | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210028503.4A CN114312846A (en) | 2022-01-11 | 2022-01-11 | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114312846A true CN114312846A (en) | 2022-04-12 |
Family
ID=81026373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210028503.4A Pending CN114312846A (en) | 2022-01-11 | 2022-01-11 | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114312846A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007137111A (en) * | 2005-11-15 | 2007-06-07 | Matsushita Electric Works Ltd | Periphery monitoring device for vehicle |
| CN107521493A (en) * | 2017-08-28 | 2017-12-29 | 苏州优达斯汽车科技有限公司 | A kind of automated parking system |
| CN109460025A (en) * | 2018-11-16 | 2019-03-12 | 北汽福田汽车股份有限公司 | The control device and system of vehicle |
| CN208665057U (en) * | 2018-08-22 | 2019-03-29 | 北京新能源汽车股份有限公司 | It is a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance |
| CN111258330A (en) * | 2020-01-15 | 2020-06-09 | 安阳学院 | Automatic obstacle-avoiding image processing device for unmanned aerial vehicle |
| JP2021026557A (en) * | 2019-08-06 | 2021-02-22 | 三菱電機株式会社 | Obstacle detection device |
| CN113060141A (en) * | 2019-12-26 | 2021-07-02 | 株式会社万都 | Advanced driver assistance system, vehicle having the same, and method of controlling the vehicle |
| CN214084044U (en) * | 2020-12-29 | 2021-08-31 | 深圳金语科技有限公司 | Reinforced blind area detection central control system |
-
2022
- 2022-01-11 CN CN202210028503.4A patent/CN114312846A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007137111A (en) * | 2005-11-15 | 2007-06-07 | Matsushita Electric Works Ltd | Periphery monitoring device for vehicle |
| CN107521493A (en) * | 2017-08-28 | 2017-12-29 | 苏州优达斯汽车科技有限公司 | A kind of automated parking system |
| CN208665057U (en) * | 2018-08-22 | 2019-03-29 | 北京新能源汽车股份有限公司 | It is a kind of for detecting the obstacle detection sensory perceptual system and automobile of vehicle body short distance |
| CN109460025A (en) * | 2018-11-16 | 2019-03-12 | 北汽福田汽车股份有限公司 | The control device and system of vehicle |
| JP2021026557A (en) * | 2019-08-06 | 2021-02-22 | 三菱電機株式会社 | Obstacle detection device |
| CN113060141A (en) * | 2019-12-26 | 2021-07-02 | 株式会社万都 | Advanced driver assistance system, vehicle having the same, and method of controlling the vehicle |
| CN111258330A (en) * | 2020-01-15 | 2020-06-09 | 安阳学院 | Automatic obstacle-avoiding image processing device for unmanned aerial vehicle |
| CN214084044U (en) * | 2020-12-29 | 2021-08-31 | 深圳金语科技有限公司 | Reinforced blind area detection central control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109634282B (en) | Autonomous vehicle, method and apparatus | |
| US11383737B2 (en) | Automatic parking system | |
| US11548499B2 (en) | Automatic parking system | |
| EP3164859B1 (en) | Vehicle radar methods and systems | |
| CN111746504B (en) | Memory parking method, system, device and computer readable storage medium | |
| US11625038B2 (en) | Autonomous driving device | |
| US20160355178A1 (en) | Surroundings monitoring apparatus and drive assistance apparatus | |
| US11840215B2 (en) | Automated valet parking system | |
| US20160139262A1 (en) | Method for distinguishing between real obstacles and apparent obstacles in a driver assistance system for motor vehicle | |
| US11628830B2 (en) | Automated valet parking system | |
| CN112771591B (en) | Method for evaluating the influence of an object in the environment of a vehicle on the driving maneuver of the vehicle | |
| CN113324554A (en) | Automatic driving route planning method and device, readable storage medium and electronic equipment | |
| EP4046883B1 (en) | Automated valet parking system, control method of automated valet parking system, and autonomous driving vehicle | |
| US10970870B2 (en) | Object detection apparatus | |
| CN113650607B (en) | Low-speed scene automatic driving method, system and automobile | |
| CN114084132A (en) | Control method and device and terminal equipment | |
| CN114312846A (en) | Obstacle recognition method based on automatic driving vehicle and automatic driving vehicle | |
| CN113823110A (en) | Parking assistance device, server or system, computer device, and medium | |
| CN115056802B (en) | Automatic driving method, device, equipment and storage medium for vehicle | |
| US11673543B2 (en) | Vehicle control system and vehicle control method | |
| KR102334039B1 (en) | Apparatus for evalutating adaptive cruise control system for vehicle | |
| CN115649174B (en) | Intelligent overtaking event processing method and related product | |
| US11932239B2 (en) | Driving assistance methods, driving assistance apparatus, driving assistance systems, and computer program | |
| JP2023023158A (en) | Drive support device and drive support method | |
| CN117985047A (en) | Method, device, equipment, medium and product for controlling vehicle to run in tunnel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |